Talker/listener not communicating with Discovery server/client

[minarady1]

Hello, I have a local multi-hop network. PC1PC2PC3. I have Discovery server running on PC1 and client running on PC3 with ROS2 Fast DDS installed on PC1 and PC3. I can see over wireshark that heartbeats are exchanged successfully between both PCs, so I assume they could discover each other. I enforced unicast traffic. However, listener/talker would not communicate with each other. The two hops are on two different networks with proper routing in pace.

PC1: IP 10.0.0.100
PC3: IP 20.0.0.20

On PC1: this is the xml configuration:

<?xml version="1.0" encoding="UTF-8" ?>
<profiles xmlns="http://www.eprosima.com">
    <participant profile_name="UDP SERVER" is_default_profile="true">
        <rtps>
            <builtin>
                <discovery_config>
                    <discoveryProtocol>SERVER</discoveryProtocol>
                </discovery_config>
                <metatrafficUnicastLocatorList>
                    <locator>
                        <udpv4>
                            <address>10.0.0.100</address>
                            <port>5000</port>
                        </udpv4>
                    </locator>
                </metatrafficUnicastLocatorList>
            </builtin>
        </rtps>
    </participant>
</profiles>



file:///home/pierre/pc1.pcapng
file:///home/pierre/pc3.pcap

On PC3:
I use environment variable ROS_DISCOVERY_SERVER=10.0.0.100:5000

Here is the PCAP from PC1 and PC3

Could you please show me what am I missing?

Thank you